EDISON SW 활용 경진대회 논문집 (Proceeding of EDISON Challenge)

한국과학기술정보연구원 (Korea Institute of Science and Technology Information)
권호 표지

테오 얀센 메커니즘을 이용한 다족 보행 로봇의 최적화

The Optimization of Multi legged walking robot using Teo Jansen mechanism

  • 고현진 (중앙대학교 기계공학부) ;
  • 박수빈 (중앙대학교 기계공학부)
  • KO, HyunJin (School of Mechanical Engineering, Chung-ang Univ.) ;
  • PARK, SuBin (School of Mechanical Engineering, Chung-ang Univ.)
  • 발행 : 2016.03.22
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초록

In this paper, the multi-leg robot is designed using Teo Jansen mechanism. The purpose of this paper is to develop unique robot, which operates efficiently in any environment. In that case, speed and accuracy are required. The indication which evaluate the value is Ground Score according to the Jansen's mechanism. To optimize the Ground Score. Genetic Algorithm (GA) in MATLAB Toolbox is used, which is numerical analytic algorithm to quickly convergence into optimum point. The Optimization of value is visualized by M-Sketch. M-Sketch was useful for simulation and evaluation of mechanic's dynamic motion. The robot's draft is produced into finished product by Edison Designer.

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